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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::SurfaceNormalModality&lt; PointInT &gt; 模板类 参考</div>  </div>
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<p>Modality based on surface normals.  
 <a href="classpcl_1_1_surface_normal_modality.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="surface__normal__modality_8h_source.html">surface_normal_modality.h</a>&gt;</code></p>
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类 pcl::SurfaceNormalModality&lt; PointInT &gt; 继承关系图:</div>
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<area href="classpcl_1_1_quantizable_modality.html" title="Interface for a quantizable modality." alt="pcl::QuantizableModality" shape="rect" coords="0,0,237,24"/>
<area href="classpcl_1_1_p_c_l_base.html" alt="pcl::PCLBase&lt; PointInT &gt;" shape="rect" coords="247,0,484,24"/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html">Candidate</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html" title="Candidate for a feature (used in feature extraction methods).">Candidate</a> for a feature (used in feature extraction methods).  <a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#details">更多...</a><br /></td></tr>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#adf5471ede18de2346bf72e430687b576">SurfaceNormalModality</a> ()</td></tr>
<tr class="memdesc:adf5471ede18de2346bf72e430687b576"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:a088d3f324dcffcfabd08b2043d6238fb"><td class="memItemLeft" align="right" valign="top"><a id="a088d3f324dcffcfabd08b2043d6238fb"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a088d3f324dcffcfabd08b2043d6238fb">~SurfaceNormalModality</a> ()</td></tr>
<tr class="memdesc:a088d3f324dcffcfabd08b2043d6238fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a502066744d48e115f9416107cf8e9336"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a502066744d48e115f9416107cf8e9336">setSpreadingSize</a> (const size_t spreading_size)</td></tr>
<tr class="memdesc:a502066744d48e115f9416107cf8e9336"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the spreading size.  <a href="classpcl_1_1_surface_normal_modality.html#a502066744d48e115f9416107cf8e9336">更多...</a><br /></td></tr>
<tr class="separator:a502066744d48e115f9416107cf8e9336"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae0e36dff36e4a80f4be853159630d0d2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ae0e36dff36e4a80f4be853159630d0d2">setVariableFeatureNr</a> (const bool enabled)</td></tr>
<tr class="memdesc:ae0e36dff36e4a80f4be853159630d0d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables/disables the use of extracting a variable number of features.  <a href="classpcl_1_1_surface_normal_modality.html#ae0e36dff36e4a80f4be853159630d0d2">更多...</a><br /></td></tr>
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<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ad22686f686120cbec54eeca27c8850f0">getSurfaceNormals</a> ()</td></tr>
<tr class="memdesc:ad22686f686120cbec54eeca27c8850f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the surface normals. <br /></td></tr>
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const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a2b976f5469678c55fb58d614bc74ef44">getSurfaceNormals</a> () const</td></tr>
<tr class="memdesc:a2b976f5469678c55fb58d614bc74ef44"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the surface normals. <br /></td></tr>
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<a class="el" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ab74742de3ba15cbfeca0969c60d95b80">getQuantizedMap</a> ()</td></tr>
<tr class="memdesc:ab74742de3ba15cbfeca0969c60d95b80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a reference to the internal quantized map. <br /></td></tr>
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<tr class="memitem:a9210a435968b3cac68435cec03420df5"><td class="memItemLeft" align="right" valign="top"><a id="a9210a435968b3cac68435cec03420df5"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a9210a435968b3cac68435cec03420df5">getSpreadedQuantizedMap</a> ()</td></tr>
<tr class="memdesc:a9210a435968b3cac68435cec03420df5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a reference to the internal spreaded quantized map. <br /></td></tr>
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<tr class="memitem:adf2fb96f80b26c7baff085ab01c844ee"><td class="memItemLeft" align="right" valign="top"><a id="adf2fb96f80b26c7baff085ab01c844ee"></a>
<a class="el" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html">LINEMOD_OrientationMap</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#adf2fb96f80b26c7baff085ab01c844ee">getOrientationMap</a> ()</td></tr>
<tr class="memdesc:adf2fb96f80b26c7baff085ab01c844ee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a reference to the orientation map. <br /></td></tr>
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<tr class="memitem:ad10f56a7c00a36cbffc6b3dd464b6bb2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ad10f56a7c00a36cbffc6b3dd464b6bb2">extractFeatures</a> (const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;mask, size_t nr_features, size_t modality_index, std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;features) const</td></tr>
<tr class="memdesc:ad10f56a7c00a36cbffc6b3dd464b6bb2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts features from this modality within the specified mask.  <a href="classpcl_1_1_surface_normal_modality.html#ad10f56a7c00a36cbffc6b3dd464b6bb2">更多...</a><br /></td></tr>
<tr class="separator:ad10f56a7c00a36cbffc6b3dd464b6bb2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af31077712cfe8911bd9627f79ab3782f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#af31077712cfe8911bd9627f79ab3782f">extractAllFeatures</a> (const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;mask, size_t nr_features, size_t modality_index, std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;features) const</td></tr>
<tr class="memdesc:af31077712cfe8911bd9627f79ab3782f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts all possible features from the modality within the specified mask.  <a href="classpcl_1_1_surface_normal_modality.html#af31077712cfe8911bd9627f79ab3782f">更多...</a><br /></td></tr>
<tr class="separator:af31077712cfe8911bd9627f79ab3782f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a49d1ef3d40ddcf485b1a6c7739bfa301"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a49d1ef3d40ddcf485b1a6c7739bfa301">setInputCloud</a> (const typename PointCloudIn::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a49d1ef3d40ddcf485b1a6c7739bfa301"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset (overwrites the <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">PCLBase::setInputCloud</a> method)  <a href="classpcl_1_1_surface_normal_modality.html#a49d1ef3d40ddcf485b1a6c7739bfa301">更多...</a><br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a4e79645c315583b70b671461f46edf70">processInputData</a> ()</td></tr>
<tr class="memdesc:a4e79645c315583b70b671461f46edf70"><td class="mdescLeft">&#160;</td><td class="mdescRight">Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading). <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a8091954a4456860ee5ac563715bfbf72">processInputDataFromFiltered</a> ()</td></tr>
<tr class="memdesc:a8091954a4456860ee5ac563715bfbf72"><td class="mdescLeft">&#160;</td><td class="mdescRight">Processes the input data assuming that everything up to filtering is already done/available (so only spreading is performed). <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_quantizable_modality"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_quantizable_modality')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_quantizable_modality.html">pcl::QuantizableModality</a></td></tr>
<tr class="memitem:ac5ad62e71b105d82681d68a3ecbaf8e6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memItemLeft" align="right" valign="top"><a id="ac5ad62e71b105d82681d68a3ecbaf8e6"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_quantizable_modality.html#ac5ad62e71b105d82681d68a3ecbaf8e6">QuantizableModality</a> ()</td></tr>
<tr class="memdesc:ac5ad62e71b105d82681d68a3ecbaf8e6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:ae6a753df93cbb291891d868aceadb67a inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memItemLeft" align="right" valign="top"><a id="ae6a753df93cbb291891d868aceadb67a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_quantizable_modality.html#ae6a753df93cbb291891d868aceadb67a">~QuantizableModality</a> ()</td></tr>
<tr class="memdesc:ae6a753df93cbb291891d868aceadb67a inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a00eb230538b0061ca2a8a6324f2b9d40"><td class="memItemLeft" align="right" valign="top"><a id="a00eb230538b0061ca2a8a6324f2b9d40"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a00eb230538b0061ca2a8a6324f2b9d40">computeSurfaceNormals</a> ()</td></tr>
<tr class="memdesc:a00eb230538b0061ca2a8a6324f2b9d40"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the surface normals from the input cloud. <br /></td></tr>
<tr class="separator:a00eb230538b0061ca2a8a6324f2b9d40"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08c179a483ef572ebe1f43f9fce81d97"><td class="memItemLeft" align="right" valign="top"><a id="a08c179a483ef572ebe1f43f9fce81d97"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a08c179a483ef572ebe1f43f9fce81d97">computeAndQuantizeSurfaceNormals</a> ()</td></tr>
<tr class="memdesc:a08c179a483ef572ebe1f43f9fce81d97"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes and quantizes the surface normals. <br /></td></tr>
<tr class="separator:a08c179a483ef572ebe1f43f9fce81d97"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47eba682876ce6fae24aa4020f4649c7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a47eba682876ce6fae24aa4020f4649c7">computeAndQuantizeSurfaceNormals2</a> ()</td></tr>
<tr class="memdesc:a47eba682876ce6fae24aa4020f4649c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes and quantizes the surface normals.  <a href="classpcl_1_1_surface_normal_modality.html#a47eba682876ce6fae24aa4020f4649c7">更多...</a><br /></td></tr>
<tr class="separator:a47eba682876ce6fae24aa4020f4649c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e7319d0e451388baf875fba8a223bf0"><td class="memItemLeft" align="right" valign="top"><a id="a8e7319d0e451388baf875fba8a223bf0"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a8e7319d0e451388baf875fba8a223bf0">quantizeSurfaceNormals</a> ()</td></tr>
<tr class="memdesc:a8e7319d0e451388baf875fba8a223bf0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Quantizes the surface normals. <br /></td></tr>
<tr class="separator:a8e7319d0e451388baf875fba8a223bf0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae0f10e280b61a13ff064e9578164204d"><td class="memItemLeft" align="right" valign="top"><a id="ae0f10e280b61a13ff064e9578164204d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ae0f10e280b61a13ff064e9578164204d">filterQuantizedSurfaceNormals</a> ()</td></tr>
<tr class="memdesc:ae0f10e280b61a13ff064e9578164204d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filters the quantized surface normals. <br /></td></tr>
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<tr class="memitem:ab6f7ea436fe627a8d04608b2aca933cc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">computeDistanceMap</a> (const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;input, <a class="el" href="classpcl_1_1_distance_map.html">DistanceMap</a> &amp;output) const</td></tr>
<tr class="memdesc:ab6f7ea436fe627a8d04608b2aca933cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes a distance map from the supplied input mask.  <a href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">更多...</a><br /></td></tr>
<tr class="separator:ab6f7ea436fe627a8d04608b2aca933cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:ae2e47d44e126b6b5d70e9566b1d942b0"><td class="memItemLeft" align="right" valign="top"><a id="ae2e47d44e126b6b5d70e9566b1d942b0"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ae2e47d44e126b6b5d70e9566b1d942b0">variable_feature_nr_</a></td></tr>
<tr class="memdesc:ae2e47d44e126b6b5d70e9566b1d942b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether variable numbers of features are extracted or not. <br /></td></tr>
<tr class="separator:ae2e47d44e126b6b5d70e9566b1d942b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a359da24833263b524074a2a953e25e6c"><td class="memItemLeft" align="right" valign="top"><a id="a359da24833263b524074a2a953e25e6c"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a359da24833263b524074a2a953e25e6c">feature_distance_threshold_</a></td></tr>
<tr class="memdesc:a359da24833263b524074a2a953e25e6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The feature distance threshold. <br /></td></tr>
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<tr class="memitem:a13360a1562e300ea0ab17e853a3fe0a8"><td class="memItemLeft" align="right" valign="top"><a id="a13360a1562e300ea0ab17e853a3fe0a8"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a13360a1562e300ea0ab17e853a3fe0a8">min_distance_to_border_</a></td></tr>
<tr class="memdesc:a13360a1562e300ea0ab17e853a3fe0a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum distance of a feature to a border. <br /></td></tr>
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<a class="el" href="structpcl_1_1_quantized_normal_look_up_table.html">QuantizedNormalLookUpTable</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a3bf48909de6236fcbaa1cfe701dbc018">normal_lookup_</a></td></tr>
<tr class="memdesc:a3bf48909de6236fcbaa1cfe701dbc018"><td class="mdescLeft">&#160;</td><td class="mdescRight">Look-up-table for quantizing surface normals. <br /></td></tr>
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<tr class="memitem:abd392f560bb5315a29b6db45b43ad7ad"><td class="memItemLeft" align="right" valign="top"><a id="abd392f560bb5315a29b6db45b43ad7ad"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#abd392f560bb5315a29b6db45b43ad7ad">spreading_size_</a></td></tr>
<tr class="memdesc:abd392f560bb5315a29b6db45b43ad7ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">The spreading size. <br /></td></tr>
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<tr class="memitem:a407ad4bb799b68a6d87a3400853ed24b"><td class="memItemLeft" align="right" valign="top"><a id="a407ad4bb799b68a6d87a3400853ed24b"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">pcl::Normal</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a407ad4bb799b68a6d87a3400853ed24b">surface_normals_</a></td></tr>
<tr class="memdesc:a407ad4bb799b68a6d87a3400853ed24b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point cloud holding the computed surface normals. <br /></td></tr>
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<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ae48fc2c0d10318818afd1db0f3a32713">quantized_surface_normals_</a></td></tr>
<tr class="memdesc:ae48fc2c0d10318818afd1db0f3a32713"><td class="mdescLeft">&#160;</td><td class="mdescRight">Quantized surface normals. <br /></td></tr>
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<tr class="memitem:a07b293f2be4721b06b003e12f1b2beb5"><td class="memItemLeft" align="right" valign="top"><a id="a07b293f2be4721b06b003e12f1b2beb5"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a></td></tr>
<tr class="memdesc:a07b293f2be4721b06b003e12f1b2beb5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filtered quantized surface normals. <br /></td></tr>
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<tr class="memitem:a340e70c8ae25d6d85c61a9b8c875b8cb"><td class="memItemLeft" align="right" valign="top"><a id="a340e70c8ae25d6d85c61a9b8c875b8cb"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#a340e70c8ae25d6d85c61a9b8c875b8cb">spreaded_quantized_surface_normals_</a></td></tr>
<tr class="memdesc:a340e70c8ae25d6d85c61a9b8c875b8cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Spreaded quantized surface normals. <br /></td></tr>
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<tr class="memitem:ac0085264e48d5c5dc4317aa0ea1d4aad"><td class="memItemLeft" align="right" valign="top"><a id="ac0085264e48d5c5dc4317aa0ea1d4aad"></a>
<a class="el" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html">pcl::LINEMOD_OrientationMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_surface_normal_modality.html#ac0085264e48d5c5dc4317aa0ea1d4aad">surface_normal_orientations_</a></td></tr>
<tr class="memdesc:ac0085264e48d5c5dc4317aa0ea1d4aad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map containing surface normal orientations. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT&gt;<br />
class pcl::SurfaceNormalModality&lt; PointInT &gt;</h3>

<p>Modality based on surface normals. </p>
<dl class="section author"><dt>作者</dt><dd>Stefan Holzer </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a47eba682876ce6fae24aa4020f4649c7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a47eba682876ce6fae24aa4020f4649c7">&#9670;&nbsp;</a></span>computeAndQuantizeSurfaceNormals2()</h2>

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<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality</a>&lt; PointInT &gt;::computeAndQuantizeSurfaceNormals2</td>
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<p>Computes and quantizes the surface normals. </p>
<p>Compute quantized normal image from depth image.</p>
<p>Implements section 2.6 "Extension to Dense Depth Sensors."</p>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000028">待办事项:</a></b></dt><dd>Should also need camera model, or at least focal lengths? Replace distance_threshold with mask? </dd></dl>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000029">待办事项:</a></b></dt><dd>Magic number 1150 is focal length? This is something like f in SXGA mode, but in VGA is more like 530. </dd></dl>
<div class="fragment"><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;{</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width;</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height;</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160; </div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> * lp_depth = <span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>[width*height];</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * lp_normals = <span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>[width*height];</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;  memset (lp_normals, 0, width*height);</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160; </div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;  <a class="code" href="classpcl_1_1_surface_normal_modality.html#ac0085264e48d5c5dc4317aa0ea1d4aad">surface_normal_orientations_</a>.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a666d06b4a007cd001ba4292b2247b53a">resize</a> (width, height, 0.0f);</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160; </div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  {</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;    {</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> value = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[row_index*width + col_index].z;</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;      <span class="keywordflow">if</span> (pcl_isfinite (value))</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;      {</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;        lp_depth[row_index*width + col_index] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">short</span><span class="keyword">&gt;</span> (value * 1000.0f);</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;      }</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      {</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;        lp_depth[row_index*width + col_index] = 0;</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      }</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    }</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;  }</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160; </div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> l_W = width;</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> l_H = height;</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160; </div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> l_r = 5; <span class="comment">// used to be 7</span></div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;  <span class="comment">//const int l_offset0 = -l_r - l_r * l_W;</span></div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  <span class="comment">//const int l_offset1 =    0 - l_r * l_W;</span></div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="comment">//const int l_offset2 = +l_r - l_r * l_W;</span></div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="comment">//const int l_offset3 = -l_r;</span></div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;  <span class="comment">//const int l_offset4 = +l_r;</span></div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  <span class="comment">//const int l_offset5 = -l_r + l_r * l_W;</span></div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  <span class="comment">//const int l_offset6 =    0 + l_r * l_W;</span></div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  <span class="comment">//const int l_offset7 = +l_r + l_r * l_W;</span></div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> offsets_i[] = {-l_r, 0, l_r, -l_r, l_r, -l_r, 0, l_r};</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> offsets_j[] = {-l_r, -l_r, -l_r, 0, 0, l_r, l_r, l_r};</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> offsets[] = { offsets_i[0] + offsets_j[0] * l_W</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;                        , offsets_i[1] + offsets_j[1] * l_W</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;                        , offsets_i[2] + offsets_j[2] * l_W</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;                        , offsets_i[3] + offsets_j[3] * l_W</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;                        , offsets_i[4] + offsets_j[4] * l_W</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;                        , offsets_i[5] + offsets_j[5] * l_W</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;                        , offsets_i[6] + offsets_j[6] * l_W</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;                        , offsets_i[7] + offsets_j[7] * l_W };</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160; </div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160; </div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;  <span class="comment">//const int l_offsetx = GRANULARITY / 2;</span></div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;  <span class="comment">//const int l_offsety = GRANULARITY / 2;</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160; </div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> difference_threshold = 50;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> distance_threshold = 2000;</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160; </div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;  <span class="comment">//const double scale = 1000.0;</span></div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  <span class="comment">//const double difference_threshold = 0.05 * scale;</span></div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  <span class="comment">//const double distance_threshold = 2.0 * scale;</span></div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160; </div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> l_y = l_r; l_y &lt; l_H - l_r - 1; ++l_y)</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;  {</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> * lp_line = lp_depth + (l_y * l_W + l_r);</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * lp_norm = lp_normals + (l_y * l_W + l_r);</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160; </div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> l_x = l_r; l_x &lt; l_W - l_r - 1; ++l_x)</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    {</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      <span class="keywordtype">long</span> l_d = lp_line[0];</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;      <span class="comment">//float l_d = input_-&gt;points[(l_y * l_W + l_r) + l_x].z;</span></div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      <span class="comment">//float px = input_-&gt;points[(l_y * l_W + l_r) + l_x].x;</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="comment">//float py = input_-&gt;points[(l_y * l_W + l_r) + l_x].y;</span></div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160; </div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      <span class="keywordflow">if</span> (l_d &lt; distance_threshold)</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;      {</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;        <span class="comment">// accum</span></div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        <span class="keywordtype">long</span> l_A[4]; l_A[0] = l_A[1] = l_A[2] = l_A[3] = 0;</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;        <span class="keywordtype">long</span> l_b[2]; l_b[0] = l_b[1] = 0;</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        <span class="comment">//double l_A[4]; l_A[0] = l_A[1] = l_A[2] = l_A[3] = 0;</span></div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        <span class="comment">//double l_b[2]; l_b[0] = l_b[1] = 0;</span></div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;        accumBilateral(lp_line[offsets[0]] - l_d, offsets_i[0], offsets_j[0], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        accumBilateral(lp_line[offsets[1]] - l_d, offsets_i[1], offsets_j[1], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;        accumBilateral(lp_line[offsets[2]] - l_d, offsets_i[2], offsets_j[2], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;        accumBilateral(lp_line[offsets[3]] - l_d, offsets_i[3], offsets_j[3], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;        accumBilateral(lp_line[offsets[4]] - l_d, offsets_i[4], offsets_j[4], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;        accumBilateral(lp_line[offsets[5]] - l_d, offsets_i[5], offsets_j[5], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        accumBilateral(lp_line[offsets[6]] - l_d, offsets_i[6], offsets_j[6], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        accumBilateral(lp_line[offsets[7]] - l_d, offsets_i[7], offsets_j[7], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160; </div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;        <span class="comment">//for (size_t index = 0; index &lt; 8; ++index)</span></div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;        <span class="comment">//{</span></div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;        <span class="comment">//  //accumBilateral(lp_line[offsets[index]] - l_d, offsets_i[index], offsets_j[index], l_A, l_b, difference_threshold);</span></div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160; </div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;        <span class="comment">//  //const long delta = lp_line[offsets[index]] - l_d;</span></div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;        <span class="comment">//  //const long i = offsets_i[index];</span></div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;        <span class="comment">//  //const long j = offsets_j[index];</span></div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;        <span class="comment">//  //long * A = l_A;</span></div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;        <span class="comment">//  //long * b = l_b;</span></div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;        <span class="comment">//  //const int threshold = difference_threshold;</span></div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160; </div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;        <span class="comment">//  //const long f = std::abs(delta) &lt; threshold ? 1 : 0;</span></div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160; </div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;        <span class="comment">//  //const long fi = f * i;</span></div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;        <span class="comment">//  //const long fj = f * j;</span></div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160; </div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;        <span class="comment">//  //A[0] += fi * i;</span></div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;        <span class="comment">//  //A[1] += fi * j;</span></div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        <span class="comment">//  //A[3] += fj * j;</span></div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;        <span class="comment">//  //b[0] += fi * delta;</span></div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;        <span class="comment">//  //b[1] += fj * delta;</span></div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160; </div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160; </div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;        <span class="comment">//  const double delta = 1000.0f * (input_-&gt;points[(l_y * l_W + l_r) + l_x + offsets[index]].z - l_d);</span></div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;        <span class="comment">//  const double i = offsets_i[index];</span></div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;        <span class="comment">//  const double j = offsets_j[index];</span></div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;        <span class="comment">//  //const float i = input_-&gt;points[(l_y * l_W + l_r) + l_x + offsets[index]].x - px;//offsets_i[index];</span></div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;        <span class="comment">//  //const float j = input_-&gt;points[(l_y * l_W + l_r) + l_x + offsets[index]].y - py;//offsets_j[index];</span></div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;        <span class="comment">//  double * A = l_A;</span></div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;        <span class="comment">//  double * b = l_b;</span></div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;        <span class="comment">//  const double threshold = difference_threshold;</span></div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160; </div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;        <span class="comment">//  const double f = std::fabs(delta) &lt; threshold ? 1.0f : 0.0f;</span></div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160; </div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;        <span class="comment">//  const double fi = f * i;</span></div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;        <span class="comment">//  const double fj = f * j;</span></div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160; </div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;        <span class="comment">//  A[0] += fi * i;</span></div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;        <span class="comment">//  A[1] += fi * j;</span></div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;        <span class="comment">//  A[3] += fj * j;</span></div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;        <span class="comment">//  b[0] += fi * delta;</span></div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;        <span class="comment">//  b[1] += fj * delta;</span></div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;        <span class="comment">//}</span></div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160; </div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;        <span class="comment">//long f = std::abs(delta) &lt; threshold ? 1 : 0;</span></div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160; </div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;        <span class="comment">//const long fi = f * i;</span></div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;        <span class="comment">//const long fj = f * j;</span></div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160; </div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;        <span class="comment">//A[0] += fi * i;</span></div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;        <span class="comment">//A[1] += fi * j;</span></div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;        <span class="comment">//A[3] += fj * j;</span></div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;        <span class="comment">//b[0]  += fi * delta;</span></div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;        <span class="comment">//b[1]  += fj * delta;</span></div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160; </div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160; </div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;        <span class="comment">// solve</span></div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;        <span class="keywordtype">long</span> l_det =  l_A[0] * l_A[3] - l_A[1] * l_A[1];</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;        <span class="keywordtype">long</span> l_ddx =  l_A[3] * l_b[0] - l_A[1] * l_b[1];</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;        <span class="keywordtype">long</span> l_ddy = -l_A[1] * l_b[0] + l_A[0] * l_b[1];</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160; </div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;        <span class="keywordtype">float</span> l_nx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(1150 * l_ddx);</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;        <span class="keywordtype">float</span> l_ny = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(1150 * l_ddy);</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;        <span class="keywordtype">float</span> l_nz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(-l_det * l_d);</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160; </div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;        <span class="comment">//double l_det =  l_A[0] * l_A[3] - l_A[1] * l_A[1];</span></div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;        <span class="comment">//double l_ddx =  l_A[3] * l_b[0] - l_A[1] * l_b[1];</span></div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;        <span class="comment">//double l_ddy = -l_A[1] * l_b[0] + l_A[0] * l_b[1];</span></div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160; </div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;        <span class="comment">//const double dummy_focal_length = 1150.0f;</span></div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;        <span class="comment">//double l_nx = l_ddx * dummy_focal_length;</span></div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;        <span class="comment">//double l_ny = l_ddy * dummy_focal_length;</span></div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;        <span class="comment">//double l_nz = -l_det * l_d;</span></div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160; </div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;        <span class="keywordtype">float</span> l_sqrt = std::sqrt (l_nx * l_nx + l_ny * l_ny + l_nz * l_nz);</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160; </div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;        <span class="keywordflow">if</span> (l_sqrt &gt; 0)</div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;        {</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;          <span class="keywordtype">float</span> l_norminv = 1.0f / (l_sqrt);</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160; </div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;          l_nx *= l_norminv;</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;          l_ny *= l_norminv;</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;          l_nz *= l_norminv;</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160; </div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;          <span class="keywordtype">float</span> angle = 22.5f + atan2f (l_ny, l_nx) * 180.0f / 3.14f;</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160; </div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;          <span class="keywordflow">if</span> (angle &lt; 0.0f) angle += 360.0f;</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;          <span class="keywordflow">if</span> (angle &gt;= 360.0f) angle -= 360.0f;</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160; </div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;          <span class="keywordtype">int</span> bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (angle*8.0f/360.0f) &amp; 7;</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160; </div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;          <a class="code" href="classpcl_1_1_surface_normal_modality.html#ac0085264e48d5c5dc4317aa0ea1d4aad">surface_normal_orientations_</a> (l_x, l_y) = angle;</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160; </div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;          <span class="comment">//*lp_norm = fabs(l_nz)*255;</span></div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160; </div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;          <span class="comment">//int l_val1 = static_cast&lt;int&gt;(l_nx * l_offsetx + l_offsetx);</span></div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;          <span class="comment">//int l_val2 = static_cast&lt;int&gt;(l_ny * l_offsety + l_offsety);</span></div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;          <span class="comment">//int l_val3 = static_cast&lt;int&gt;(l_nz * GRANULARITY + GRANULARITY);</span></div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160; </div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;          <span class="comment">//*lp_norm = NORMAL_LUT[l_val3][l_val2][l_val1];</span></div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;          *lp_norm = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (0x1 &lt;&lt; bin_index);</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;        }</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;        {</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;          *lp_norm = 0; <span class="comment">// Discard shadows from depth sensor</span></div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;        }</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;      }</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;      {</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;        *lp_norm = 0; <span class="comment">//out of depth</span></div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;      }</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;      ++lp_line;</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;      ++lp_norm;</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;    }</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;  }</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;  <span class="comment">/*cvSmooth(m_dep[0], m_dep[0], CV_MEDIAN, 5, 5);*/</span></div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160; </div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> map[255];</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;  memset(map, 0, 255);</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160; </div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;  map[0x1&lt;&lt;0] = 0;</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;  map[0x1&lt;&lt;1] = 1;</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;  map[0x1&lt;&lt;2] = 2;</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;  map[0x1&lt;&lt;3] = 3;</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;  map[0x1&lt;&lt;4] = 4;</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;  map[0x1&lt;&lt;5] = 5;</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;  map[0x1&lt;&lt;6] = 6;</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;  map[0x1&lt;&lt;7] = 7;</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160; </div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;  <a class="code" href="classpcl_1_1_surface_normal_modality.html#ae48fc2c0d10318818afd1db0f3a32713">quantized_surface_normals_</a>.resize (width, height);</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;  {</div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;    {</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#ae48fc2c0d10318818afd1db0f3a32713">quantized_surface_normals_</a> (col_index, row_index) = map[lp_normals[row_index*width + col_index]];</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;    }</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;  }</div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160; </div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;  <span class="keyword">delete</span>[] lp_depth;</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;  <span class="keyword">delete</span>[] lp_normals;</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ac0085264e48d5c5dc4317aa0ea1d4aad"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ac0085264e48d5c5dc4317aa0ea1d4aad">pcl::SurfaceNormalModality::surface_normal_orientations_</a></div><div class="ttdeci">pcl::LINEMOD_OrientationMap surface_normal_orientations_</div><div class="ttdoc">Map containing surface normal orientations.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:483</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ae48fc2c0d10318818afd1db0f3a32713"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ae48fc2c0d10318818afd1db0f3a32713">pcl::SurfaceNormalModality::quantized_surface_normals_</a></div><div class="ttdeci">pcl::QuantizedMap quantized_surface_normals_</div><div class="ttdoc">Quantized surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:476</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a666d06b4a007cd001ba4292b2247b53a"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a666d06b4a007cd001ba4292b2247b53a">pcl::LINEMOD_OrientationMap::resize</a></div><div class="ttdeci">void resize(const size_t width, const size_t height, const float value)</div><div class="ttdoc">Resizes the map to the specific width and height and initializes all new elements with the specified ...</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:84</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab6f7ea436fe627a8d04608b2aca933cc">&#9670;&nbsp;</a></span>computeDistanceMap()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality</a>&lt; PointInT &gt;::computeDistanceMap </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;&#160;</td>
          <td class="paramname"><em>input</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_distance_map.html">DistanceMap</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Computes a distance map from the supplied input mask. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">input</td><td>the mask for which a distance map will be computed. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the destination for the distance map. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l01580"></a><span class="lineno"> 1580</span>&#160;{</div>
<div class="line"><a name="l01581"></a><span class="lineno"> 1581</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input.getWidth ();</div>
<div class="line"><a name="l01582"></a><span class="lineno"> 1582</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input.getHeight ();</div>
<div class="line"><a name="l01583"></a><span class="lineno"> 1583</span>&#160; </div>
<div class="line"><a name="l01584"></a><span class="lineno"> 1584</span>&#160;  output.resize (width, height);</div>
<div class="line"><a name="l01585"></a><span class="lineno"> 1585</span>&#160; </div>
<div class="line"><a name="l01586"></a><span class="lineno"> 1586</span>&#160;  <span class="comment">// compute distance map</span></div>
<div class="line"><a name="l01587"></a><span class="lineno"> 1587</span>&#160;  <span class="comment">//float *distance_map = new float[input_-&gt;points.size ()];</span></div>
<div class="line"><a name="l01588"></a><span class="lineno"> 1588</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * mask_map = input.getData ();</div>
<div class="line"><a name="l01589"></a><span class="lineno"> 1589</span>&#160;  <span class="keywordtype">float</span> * distance_map = output.getData ();</div>
<div class="line"><a name="l01590"></a><span class="lineno"> 1590</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; width*height; ++index)</div>
<div class="line"><a name="l01591"></a><span class="lineno"> 1591</span>&#160;  {</div>
<div class="line"><a name="l01592"></a><span class="lineno"> 1592</span>&#160;    <span class="keywordflow">if</span> (mask_map[index] == 0)</div>
<div class="line"><a name="l01593"></a><span class="lineno"> 1593</span>&#160;      distance_map[index] = 0.0f;</div>
<div class="line"><a name="l01594"></a><span class="lineno"> 1594</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01595"></a><span class="lineno"> 1595</span>&#160;      distance_map[index] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (width + height);</div>
<div class="line"><a name="l01596"></a><span class="lineno"> 1596</span>&#160;  }</div>
<div class="line"><a name="l01597"></a><span class="lineno"> 1597</span>&#160; </div>
<div class="line"><a name="l01598"></a><span class="lineno"> 1598</span>&#160;  <span class="comment">// first pass</span></div>
<div class="line"><a name="l01599"></a><span class="lineno"> 1599</span>&#160;  <span class="keywordtype">float</span> * previous_row = distance_map;</div>
<div class="line"><a name="l01600"></a><span class="lineno"> 1600</span>&#160;  <span class="keywordtype">float</span> * current_row = previous_row + width;</div>
<div class="line"><a name="l01601"></a><span class="lineno"> 1601</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ri = 1; ri &lt; height; ++ri)</div>
<div class="line"><a name="l01602"></a><span class="lineno"> 1602</span>&#160;  {</div>
<div class="line"><a name="l01603"></a><span class="lineno"> 1603</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ci = 1; ci &lt; width; ++ci)</div>
<div class="line"><a name="l01604"></a><span class="lineno"> 1604</span>&#160;    {</div>
<div class="line"><a name="l01605"></a><span class="lineno"> 1605</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up_left  = previous_row [ci - 1] + 1.4f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci-1] + 1.4f;</span></div>
<div class="line"><a name="l01606"></a><span class="lineno"> 1606</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up       = previous_row [ci]     + 1.0f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci] + 1.0f;</span></div>
<div class="line"><a name="l01607"></a><span class="lineno"> 1607</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up_right = previous_row [ci + 1] + 1.4f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci+1] + 1.4f;</span></div>
<div class="line"><a name="l01608"></a><span class="lineno"> 1608</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> left     = current_row  [ci - 1] + 1.0f; <span class="comment">//distance_map[ri*input_-&gt;width + ci-1] + 1.0f;</span></div>
<div class="line"><a name="l01609"></a><span class="lineno"> 1609</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> center   = current_row  [ci];            <span class="comment">//distance_map[ri*input_-&gt;width + ci];</span></div>
<div class="line"><a name="l01610"></a><span class="lineno"> 1610</span>&#160; </div>
<div class="line"><a name="l01611"></a><span class="lineno"> 1611</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> min_value = std::min (std::min (up_left, up), std::min (left, up_right));</div>
<div class="line"><a name="l01612"></a><span class="lineno"> 1612</span>&#160; </div>
<div class="line"><a name="l01613"></a><span class="lineno"> 1613</span>&#160;      <span class="keywordflow">if</span> (min_value &lt; center)</div>
<div class="line"><a name="l01614"></a><span class="lineno"> 1614</span>&#160;        current_row[ci] = min_value; <span class="comment">//distance_map[ri * input_-&gt;width + ci] = min_value;</span></div>
<div class="line"><a name="l01615"></a><span class="lineno"> 1615</span>&#160;    }</div>
<div class="line"><a name="l01616"></a><span class="lineno"> 1616</span>&#160;    previous_row = current_row;</div>
<div class="line"><a name="l01617"></a><span class="lineno"> 1617</span>&#160;    current_row += width;</div>
<div class="line"><a name="l01618"></a><span class="lineno"> 1618</span>&#160;  }</div>
<div class="line"><a name="l01619"></a><span class="lineno"> 1619</span>&#160; </div>
<div class="line"><a name="l01620"></a><span class="lineno"> 1620</span>&#160;  <span class="comment">// second pass</span></div>
<div class="line"><a name="l01621"></a><span class="lineno"> 1621</span>&#160;  <span class="keywordtype">float</span> * next_row = distance_map + width * (height - 1);</div>
<div class="line"><a name="l01622"></a><span class="lineno"> 1622</span>&#160;  current_row = next_row - width;</div>
<div class="line"><a name="l01623"></a><span class="lineno"> 1623</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ri = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (height)-2; ri &gt;= 0; --ri)</div>
<div class="line"><a name="l01624"></a><span class="lineno"> 1624</span>&#160;  {</div>
<div class="line"><a name="l01625"></a><span class="lineno"> 1625</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ci = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (width)-2; ci &gt;= 0; --ci)</div>
<div class="line"><a name="l01626"></a><span class="lineno"> 1626</span>&#160;    {</div>
<div class="line"><a name="l01627"></a><span class="lineno"> 1627</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower_left  = next_row    [ci - 1] + 1.4f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci-1] + 1.4f;</span></div>
<div class="line"><a name="l01628"></a><span class="lineno"> 1628</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower       = next_row    [ci]     + 1.0f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci] + 1.0f;</span></div>
<div class="line"><a name="l01629"></a><span class="lineno"> 1629</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower_right = next_row    [ci + 1] + 1.4f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci+1] + 1.4f;</span></div>
<div class="line"><a name="l01630"></a><span class="lineno"> 1630</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> right       = current_row [ci + 1] + 1.0f; <span class="comment">//distance_map[ri*input_-&gt;width + ci+1] + 1.0f;</span></div>
<div class="line"><a name="l01631"></a><span class="lineno"> 1631</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> center      = current_row [ci];            <span class="comment">//distance_map[ri*input_-&gt;width + ci];</span></div>
<div class="line"><a name="l01632"></a><span class="lineno"> 1632</span>&#160; </div>
<div class="line"><a name="l01633"></a><span class="lineno"> 1633</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> min_value = std::min (std::min (lower_left, lower), std::min (right, lower_right));</div>
<div class="line"><a name="l01634"></a><span class="lineno"> 1634</span>&#160; </div>
<div class="line"><a name="l01635"></a><span class="lineno"> 1635</span>&#160;      <span class="keywordflow">if</span> (min_value &lt; center)</div>
<div class="line"><a name="l01636"></a><span class="lineno"> 1636</span>&#160;        current_row[ci] = min_value; <span class="comment">//distance_map[ri*input_-&gt;width + ci] = min_value;</span></div>
<div class="line"><a name="l01637"></a><span class="lineno"> 1637</span>&#160;    }</div>
<div class="line"><a name="l01638"></a><span class="lineno"> 1638</span>&#160;    next_row = current_row;</div>
<div class="line"><a name="l01639"></a><span class="lineno"> 1639</span>&#160;    current_row -= width;</div>
<div class="line"><a name="l01640"></a><span class="lineno"> 1640</span>&#160;  }</div>
<div class="line"><a name="l01641"></a><span class="lineno"> 1641</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#af31077712cfe8911bd9627f79ab3782f">&#9670;&nbsp;</a></span>extractAllFeatures()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality</a>&lt; PointInT &gt;::extractAllFeatures </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;&#160;</td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>nr_features</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>modality_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>features</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Extracts all possible features from the modality within the specified mask. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>defines the areas where features are searched in. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nr_features</td><td>IGNORED (TODO: remove this parameter). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">modality_index</td><td>the index which is stored in the extracted features. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">features</td><td>the destination for the extracted features. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_quantizable_modality.html#a5467be331d8ee3d4daf9959befef9ef6">pcl::QuantizableModality</a>.</p>
<div class="fragment"><div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;{</div>
<div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160; </div>
<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160;  <span class="comment">//cv::Mat maskImage(height, width, CV_8U, mask.mask);</span></div>
<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;  <span class="comment">//cv::erode(maskImage, maskImage</span></div>
<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160; </div>
<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;  <span class="comment">// create distance maps for every quantization value</span></div>
<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160;  <span class="comment">//cv::Mat distance_maps[8];</span></div>
<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;  <span class="comment">//for (int map_index = 0; map_index &lt; 8; ++map_index)</span></div>
<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;  <span class="comment">//  distance_maps[map_index] = ::cv::Mat::zeros(height, width, CV_8U);</span></div>
<div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160; </div>
<div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160;  MaskMap mask_maps[8];</div>
<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;    mask_maps[map_index].resize (width, height);</div>
<div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160; </div>
<div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> map[255];</div>
<div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;  memset(map, 0, 255);</div>
<div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160; </div>
<div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;  map[0x1&lt;&lt;0] = 0;</div>
<div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160;  map[0x1&lt;&lt;1] = 1;</div>
<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160;  map[0x1&lt;&lt;2] = 2;</div>
<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160;  map[0x1&lt;&lt;3] = 3;</div>
<div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;  map[0x1&lt;&lt;4] = 4;</div>
<div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160;  map[0x1&lt;&lt;5] = 5;</div>
<div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160;  map[0x1&lt;&lt;6] = 6;</div>
<div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;  map[0x1&lt;&lt;7] = 7;</div>
<div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160; </div>
<div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;  QuantizedMap distance_map_indices (width, height);</div>
<div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160;  <span class="comment">//memset (distance_map_indices.data, 0, sizeof (distance_map_indices.data[0])*width*height);</span></div>
<div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160; </div>
<div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l01274"></a><span class="lineno"> 1274</span>&#160;  {</div>
<div class="line"><a name="l01275"></a><span class="lineno"> 1275</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>&#160;    {</div>
<div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160;      {</div>
<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = <a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a> (col_index, row_index);</div>
<div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160; </div>
<div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>&#160;        <span class="keywordflow">if</span> (quantized_value == 0) </div>
<div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dist_map_index = map[quantized_value];</div>
<div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160; </div>
<div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;        distance_map_indices (col_index, row_index) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (dist_map_index);</div>
<div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160;        <span class="comment">//distance_maps[dist_map_index].at&lt;unsigned char&gt;(row_index, col_index) = 255;</span></div>
<div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160;        mask_maps[dist_map_index] (col_index, row_index) = 255;</div>
<div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160;      }</div>
<div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160;    }</div>
<div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160;  }</div>
<div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160; </div>
<div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160;  DistanceMap distance_maps[8];</div>
<div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160;    <a class="code" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">computeDistanceMap</a> (mask_maps[map_index], distance_maps[map_index]);</div>
<div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>&#160; </div>
<div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160;  DistanceMap mask_distance_maps;</div>
<div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160;  <a class="code" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">computeDistanceMap</a> (mask, mask_distance_maps);</div>
<div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160; </div>
<div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l01301"></a><span class="lineno"> 1301</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l01302"></a><span class="lineno"> 1302</span>&#160; </div>
<div class="line"><a name="l01303"></a><span class="lineno"> 1303</span>&#160;  <span class="keywordtype">float</span> weights[8] = {0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l01304"></a><span class="lineno"> 1304</span>&#160; </div>
<div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> off = 4;</div>
<div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = off; row_index &lt; height-off; ++row_index)</div>
<div class="line"><a name="l01307"></a><span class="lineno"> 1307</span>&#160;  {</div>
<div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = off; col_index &lt; width-off; ++col_index)</div>
<div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160;    {</div>
<div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;      {</div>
<div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = <a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a> (col_index, row_index);</div>
<div class="line"><a name="l01314"></a><span class="lineno"> 1314</span>&#160; </div>
<div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160;        <span class="comment">//const float nx = surface_normals_ (col_index, row_index).normal_x;</span></div>
<div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;        <span class="comment">//const float ny = surface_normals_ (col_index, row_index).normal_y;</span></div>
<div class="line"><a name="l01317"></a><span class="lineno"> 1317</span>&#160;        <span class="comment">//const float nz = surface_normals_ (col_index, row_index).normal_z;</span></div>
<div class="line"><a name="l01318"></a><span class="lineno"> 1318</span>&#160; </div>
<div class="line"><a name="l01319"></a><span class="lineno"> 1319</span>&#160;        <span class="keywordflow">if</span> (quantized_value != 0)<span class="comment">// &amp;&amp; !(pcl_isnan (nx) || pcl_isnan (ny) || pcl_isnan (nz)))</span></div>
<div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160;        {</div>
<div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> distance_map_index = map[quantized_value];</div>
<div class="line"><a name="l01322"></a><span class="lineno"> 1322</span>&#160; </div>
<div class="line"><a name="l01323"></a><span class="lineno"> 1323</span>&#160;          <span class="comment">//const float distance = distance_maps[distance_map_index].at&lt;float&gt; (row_index, col_index);</span></div>
<div class="line"><a name="l01324"></a><span class="lineno"> 1324</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = distance_maps[distance_map_index] (col_index, row_index);</div>
<div class="line"><a name="l01325"></a><span class="lineno"> 1325</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> distance_to_border = mask_distance_maps (col_index, row_index);</div>
<div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160; </div>
<div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160;          <span class="keywordflow">if</span> (distance &gt;= <a class="code" href="classpcl_1_1_surface_normal_modality.html#a359da24833263b524074a2a953e25e6c">feature_distance_threshold_</a> &amp;&amp; distance_to_border &gt;= <a class="code" href="classpcl_1_1_surface_normal_modality.html#a13360a1562e300ea0ab17e853a3fe0a8">min_distance_to_border_</a>)</div>
<div class="line"><a name="l01328"></a><span class="lineno"> 1328</span>&#160;          {</div>
<div class="line"><a name="l01329"></a><span class="lineno"> 1329</span>&#160;            Candidate candidate;</div>
<div class="line"><a name="l01330"></a><span class="lineno"> 1330</span>&#160; </div>
<div class="line"><a name="l01331"></a><span class="lineno"> 1331</span>&#160;            candidate.distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l01332"></a><span class="lineno"> 1332</span>&#160;            candidate.x = col_index;</div>
<div class="line"><a name="l01333"></a><span class="lineno"> 1333</span>&#160;            candidate.y = row_index;</div>
<div class="line"><a name="l01334"></a><span class="lineno"> 1334</span>&#160;            candidate.bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (distance_map_index);</div>
<div class="line"><a name="l01335"></a><span class="lineno"> 1335</span>&#160; </div>
<div class="line"><a name="l01336"></a><span class="lineno"> 1336</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l01337"></a><span class="lineno"> 1337</span>&#160; </div>
<div class="line"><a name="l01338"></a><span class="lineno"> 1338</span>&#160;            ++weights[distance_map_index];</div>
<div class="line"><a name="l01339"></a><span class="lineno"> 1339</span>&#160;          }</div>
<div class="line"><a name="l01340"></a><span class="lineno"> 1340</span>&#160;        }</div>
<div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160;      }</div>
<div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160;    }</div>
<div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160;  }</div>
<div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160; </div>
<div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l01346"></a><span class="lineno"> 1346</span>&#160;    iter-&gt;distance *= 1.0f / weights[iter-&gt;bin_index];</div>
<div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160; </div>
<div class="line"><a name="l01348"></a><span class="lineno"> 1348</span>&#160;  list1.sort ();</div>
<div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160; </div>
<div class="line"><a name="l01350"></a><span class="lineno"> 1350</span>&#160;  features.reserve (list1.size ());</div>
<div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160;  {</div>
<div class="line"><a name="l01353"></a><span class="lineno"> 1353</span>&#160;    QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l01354"></a><span class="lineno"> 1354</span>&#160; </div>
<div class="line"><a name="l01355"></a><span class="lineno"> 1355</span>&#160;    feature.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;x);</div>
<div class="line"><a name="l01356"></a><span class="lineno"> 1356</span>&#160;    feature.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;y);</div>
<div class="line"><a name="l01357"></a><span class="lineno"> 1357</span>&#160;    feature.modality_index = modality_index;</div>
<div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160;    feature.quantized_value = <a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a> (iter-&gt;x, iter-&gt;y);</div>
<div class="line"><a name="l01359"></a><span class="lineno"> 1359</span>&#160; </div>
<div class="line"><a name="l01360"></a><span class="lineno"> 1360</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l01361"></a><span class="lineno"> 1361</span>&#160;  }</div>
<div class="line"><a name="l01362"></a><span class="lineno"> 1362</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a07b293f2be4721b06b003e12f1b2beb5"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">pcl::SurfaceNormalModality::filtered_quantized_surface_normals_</a></div><div class="ttdeci">pcl::QuantizedMap filtered_quantized_surface_normals_</div><div class="ttdoc">Filtered quantized surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:478</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a13360a1562e300ea0ab17e853a3fe0a8"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a13360a1562e300ea0ab17e853a3fe0a8">pcl::SurfaceNormalModality::min_distance_to_border_</a></div><div class="ttdeci">float min_distance_to_border_</div><div class="ttdoc">Minimum distance of a feature to a border.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:465</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a359da24833263b524074a2a953e25e6c"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a359da24833263b524074a2a953e25e6c">pcl::SurfaceNormalModality::feature_distance_threshold_</a></div><div class="ttdeci">float feature_distance_threshold_</div><div class="ttdoc">The feature distance threshold.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:463</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ab6f7ea436fe627a8d04608b2aca933cc"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">pcl::SurfaceNormalModality::computeDistanceMap</a></div><div class="ttdeci">void computeDistanceMap(const MaskMap &amp;input, DistanceMap &amp;output) const</div><div class="ttdoc">Computes a distance map from the supplied input mask.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:1579</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad10f56a7c00a36cbffc6b3dd464b6bb2">&#9670;&nbsp;</a></span>extractFeatures()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality</a>&lt; PointInT &gt;::extractFeatures </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;&#160;</td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>nr_features</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>modality_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>features</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>Extracts features from this modality within the specified mask. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>defines the areas where features are searched in. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nr_features</td><td>defines the number of features to be extracted (might be less if not sufficient information is present in the modality). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">modality_index</td><td>the index which is stored in the extracted features. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">features</td><td>the destination for the extracted features. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_quantizable_modality.html#af7bf03139bffc77e0ed340d9be117406">pcl::QuantizableModality</a>.</p>
<div class="fragment"><div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;{</div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160; </div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;  <span class="comment">//cv::Mat maskImage(height, width, CV_8U, mask.mask);</span></div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;  <span class="comment">//cv::erode(maskImage, maskImage</span></div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160; </div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;  <span class="comment">// create distance maps for every quantization value</span></div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;  <span class="comment">//cv::Mat distance_maps[8];</span></div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;  <span class="comment">//for (int map_index = 0; map_index &lt; 8; ++map_index)</span></div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;  <span class="comment">//  distance_maps[map_index] = ::cv::Mat::zeros(height, width, CV_8U);</span></div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160; </div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;  MaskMap mask_maps[8];</div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;    mask_maps[map_index].resize (width, height);</div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160; </div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> map[255];</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;  memset(map, 0, 255);</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160; </div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;  map[0x1&lt;&lt;0] = 0;</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;  map[0x1&lt;&lt;1] = 1;</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;  map[0x1&lt;&lt;2] = 2;</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;  map[0x1&lt;&lt;3] = 3;</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;  map[0x1&lt;&lt;4] = 4;</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;  map[0x1&lt;&lt;5] = 5;</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;  map[0x1&lt;&lt;6] = 6;</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;  map[0x1&lt;&lt;7] = 7;</div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160; </div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;  QuantizedMap distance_map_indices (width, height);</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;  <span class="comment">//memset (distance_map_indices.data, 0, sizeof (distance_map_indices.data[0])*width*height);</span></div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160; </div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;  {</div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;    {</div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;      {</div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = <a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a> (col_index, row_index);</div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160; </div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;        <span class="keywordflow">if</span> (quantized_value == 0) </div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dist_map_index = map[quantized_value];</div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160; </div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;        distance_map_indices (col_index, row_index) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (dist_map_index);</div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;        <span class="comment">//distance_maps[dist_map_index].at&lt;unsigned char&gt;(row_index, col_index) = 255;</span></div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;        mask_maps[dist_map_index] (col_index, row_index) = 255;</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;      }</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;    }</div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;  }</div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160; </div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;  DistanceMap distance_maps[8];</div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;    <a class="code" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">computeDistanceMap</a> (mask_maps[map_index], distance_maps[map_index]);</div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160; </div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;  DistanceMap mask_distance_maps;</div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;  <a class="code" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">computeDistanceMap</a> (mask, mask_distance_maps);</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160; </div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160; </div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;  <span class="keywordtype">float</span> weights[8] = {0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160; </div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> off = 4;</div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = off; row_index &lt; height-off; ++row_index)</div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;  {</div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = off; col_index &lt; width-off; ++col_index)</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;    {</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;      {</div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = <a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a> (col_index, row_index);</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160; </div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;        <span class="comment">//const float nx = surface_normals_ (col_index, row_index).normal_x;</span></div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;        <span class="comment">//const float ny = surface_normals_ (col_index, row_index).normal_y;</span></div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;        <span class="comment">//const float nz = surface_normals_ (col_index, row_index).normal_z;</span></div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160; </div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;        <span class="keywordflow">if</span> (quantized_value != 0)<span class="comment">// &amp;&amp; !(pcl_isnan (nx) || pcl_isnan (ny) || pcl_isnan (nz)))</span></div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;        {</div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> distance_map_index = map[quantized_value];</div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160; </div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;          <span class="comment">//const float distance = distance_maps[distance_map_index].at&lt;float&gt; (row_index, col_index);</span></div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = distance_maps[distance_map_index] (col_index, row_index);</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> distance_to_border = mask_distance_maps (col_index, row_index);</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160; </div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;          <span class="keywordflow">if</span> (distance &gt;= <a class="code" href="classpcl_1_1_surface_normal_modality.html#a359da24833263b524074a2a953e25e6c">feature_distance_threshold_</a> &amp;&amp; distance_to_border &gt;= <a class="code" href="classpcl_1_1_surface_normal_modality.html#a13360a1562e300ea0ab17e853a3fe0a8">min_distance_to_border_</a>)</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;          {</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;            Candidate candidate;</div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160; </div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;            candidate.distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;            candidate.x = col_index;</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;            candidate.y = row_index;</div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;            candidate.bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (distance_map_index);</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160; </div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160; </div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;            ++weights[distance_map_index];</div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;          }</div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;        }</div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;      }</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;    }</div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;  }</div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160; </div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;    iter-&gt;distance *= 1.0f / weights[iter-&gt;bin_index];</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160; </div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;  list1.sort ();</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160; </div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_surface_normal_modality.html#ae2e47d44e126b6b5d70e9566b1d942b0">variable_feature_nr_</a>)</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;  {</div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (list1.size ());</div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;    <span class="keywordtype">bool</span> feature_selection_finished = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;    <span class="keywordflow">while</span> (!feature_selection_finished)</div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;    {</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>*<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;      {</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;        <span class="keywordtype">bool</span> candidate_accepted = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;        {</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> tmp_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160; </div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;          <span class="keywordflow">if</span> (tmp_distance &lt; sqr_distance)</div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;          {</div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;            candidate_accepted = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;          }</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;        }</div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160; </div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160; </div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;        <span class="keywordtype">float</span> min_min_sqr_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;        <span class="keywordtype">float</span> max_min_sqr_distance = 0;</div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;        {</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;          <span class="keywordtype">float</span> min_sqr_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter3 = list2.begin (); iter3 != list2.end (); ++iter3)</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;          {</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;            <span class="keywordflow">if</span> (iter2 == iter3)</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;              <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160; </div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter3-&gt;x);</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter3-&gt;y);</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160; </div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160; </div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;            <span class="keywordflow">if</span> (sqr_distance &lt; min_sqr_distance)</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;            {</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;              min_sqr_distance = sqr_distance;</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;            }</div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160; </div>
<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160;            <span class="comment">//std::cerr &lt;&lt; min_sqr_distance;</span></div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;          }</div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;          <span class="comment">//std::cerr &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160; </div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;          <span class="comment">// check current feature</span></div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;          {</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;x);</div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;y);</div>
<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160; </div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160; </div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;            <span class="keywordflow">if</span> (sqr_distance &lt; min_sqr_distance)</div>
<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;            {</div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;              min_sqr_distance = sqr_distance;</div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;            }</div>
<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;          }</div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160; </div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;          <span class="keywordflow">if</span> (min_sqr_distance &lt; min_min_sqr_distance)</div>
<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;            min_min_sqr_distance = min_sqr_distance;</div>
<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;          <span class="keywordflow">if</span> (min_sqr_distance &gt; max_min_sqr_distance)</div>
<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;            max_min_sqr_distance = min_sqr_distance;</div>
<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160; </div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;          <span class="comment">//std::cerr &lt;&lt; min_sqr_distance &lt;&lt; &quot;, &quot; &lt;&lt; min_min_sqr_distance &lt;&lt; &quot;, &quot; &lt;&lt; max_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;        }</div>
<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160; </div>
<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;        <span class="keywordflow">if</span> (candidate_accepted)</div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;        {</div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;feature_index: &quot; &lt;&lt; list2.size () &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;min_min_sqr_distance: &quot; &lt;&lt; min_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;max_min_sqr_distance: &quot; &lt;&lt; max_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160; </div>
<div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160;          <span class="keywordflow">if</span> (min_min_sqr_distance &lt; 50)</div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;          {</div>
<div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160;            feature_selection_finished = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160;          }</div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160; </div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;          list2.push_back (*iter1);</div>
<div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;        }</div>
<div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160; </div>
<div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160;        <span class="comment">//if (list2.size () == nr_features) </span></div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;        <span class="comment">//{</span></div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;        <span class="comment">//  feature_selection_finished = true;</span></div>
<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;        <span class="comment">//  break;</span></div>
<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;        <span class="comment">//}</span></div>
<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;      }</div>
<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160;      --<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;    }</div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;  }</div>
<div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;  {</div>
<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;    <span class="keywordflow">if</span> (list1.size () &lt;= nr_features)</div>
<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;    {</div>
<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;      features.reserve (list1.size ());</div>
<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;      {</div>
<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;        QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160; </div>
<div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160;        feature.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;x);</div>
<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;        feature.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;y);</div>
<div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;        feature.modality_index = modality_index;</div>
<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;        feature.quantized_value = <a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a> (iter-&gt;x, iter-&gt;y);</div>
<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160; </div>
<div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160;        features.push_back (feature);</div>
<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;      }</div>
<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160; </div>
<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;    }</div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160; </div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (list1.size () / nr_features + 1); <span class="comment">// ???  @todo:!:!:!:!:!:!</span></div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;    <span class="keywordflow">while</span> (list2.size () != nr_features)</div>
<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160;    {</div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>*<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;      {</div>
<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;        <span class="keywordtype">bool</span> candidate_accepted = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160; </div>
<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;        {</div>
<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> tmp_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160; </div>
<div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160;          <span class="keywordflow">if</span> (tmp_distance &lt; sqr_distance)</div>
<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;          {</div>
<div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>&#160;            candidate_accepted = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160;          }</div>
<div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160;        }</div>
<div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160; </div>
<div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160;        <span class="keywordflow">if</span> (candidate_accepted)</div>
<div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>&#160;          list2.push_back (*iter1);</div>
<div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>&#160; </div>
<div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160;        <span class="keywordflow">if</span> (list2.size () == nr_features) <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;      }</div>
<div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160;      --<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>&#160;    }</div>
<div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>&#160;  }</div>
<div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160; </div>
<div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160;  {</div>
<div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160;    QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160; </div>
<div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;    feature.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160;    feature.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;    feature.modality_index = modality_index;</div>
<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;    feature.quantized_value = <a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a> (iter2-&gt;x, iter2-&gt;y);</div>
<div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160; </div>
<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;  }</div>
<div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ae2e47d44e126b6b5d70e9566b1d942b0"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ae2e47d44e126b6b5d70e9566b1d942b0">pcl::SurfaceNormalModality::variable_feature_nr_</a></div><div class="ttdeci">bool variable_feature_nr_</div><div class="ttdoc">Determines whether variable numbers of features are extracted or not.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:460</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a49d1ef3d40ddcf485b1a6c7739bfa301">&#9670;&nbsp;</a></span>setInputCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
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          <td class="memname">virtual void <a class="el" href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality</a>&lt; PointInT &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const typename PointCloudIn::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
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  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
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<p>Provide a pointer to the input dataset (overwrites the <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">PCLBase::setInputCloud</a> method) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
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<div class="fragment"><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      { </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a502066744d48e115f9416107cf8e9336">&#9670;&nbsp;</a></span>setSpreadingSize()</h2>

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<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality</a>&lt; PointInT &gt;::setSpreadingSize </td>
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          <td class="paramname"><em>spreading_size</em></td><td>)</td>
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<p>Sets the spreading size. </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">spreading_size</td><td>the spreading size. </td></tr>
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<div class="fragment"><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      {</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        <a class="code" href="classpcl_1_1_surface_normal_modality.html#abd392f560bb5315a29b6db45b43ad7ad">spreading_size_</a> = spreading_size;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_abd392f560bb5315a29b6db45b43ad7ad"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#abd392f560bb5315a29b6db45b43ad7ad">pcl::SurfaceNormalModality::spreading_size_</a></div><div class="ttdeci">size_t spreading_size_</div><div class="ttdoc">The spreading size.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:471</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae0e36dff36e4a80f4be853159630d0d2">&#9670;&nbsp;</a></span>setVariableFeatureNr()</h2>

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template&lt;typename PointInT &gt; </div>
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<p>Enables/disables the use of extracting a variable number of features. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">enabled</td><td>specifies whether extraction of a variable number of features will be enabled/disabled. </td></tr>
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<div class="fragment"><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      {</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <a class="code" href="classpcl_1_1_surface_normal_modality.html#ae2e47d44e126b6b5d70e9566b1d942b0">variable_feature_nr_</a> = enabled;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>recognition/include/pcl/recognition/<a class="el" href="surface__normal__modality_8h_source.html">surface_normal_modality.h</a></li>
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